CN107505596B - MIMO active detection signal design and detection system and method based on dual-extension underwater acoustic channel environment - Google Patents
MIMO active detection signal design and detection system and method based on dual-extension underwater acoustic channel environment Download PDFInfo
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Abstract
The invention discloses a system and a method for designing and detecting an MIMO active detection signal based on a double-extension underwater acoustic channel environment, which are suitable for the field of underwater acoustic detection and positioning under the condition of a quick time-varying double-extension underwater acoustic channel. The ZCZ sequence waveform design based on the periodic autocorrelation and cross-correlation structure has the advantages that the interference can be completely eliminated only by utilizing the periodic cyclic shift correlation characteristic of the waveform sequence without excessive consideration and design of different orthogonal structures. Through beam forming and matched filtering processing, virtual data vectors of echo signals of different transmitting array elements are distinguished, the aperture of the virtual array elements is expanded, the target resolution is improved, and the space-time diversity gain of the whole system is improved. The detection of all the directions can be realized at one time, and compared with the existing traditional beam forming technology, the detection time is saved.
Description
Technical Field
The invention relates to a system and a method for designing and detecting an MIMO active detection signal based on a double-extension underwater acoustic channel environment, which are suitable for the field of underwater acoustic detection and positioning under the condition of a quick time-varying double-extension underwater acoustic channel.
Technical Field
The sonar signals are essentially different from the communication signals in that the communication signals contain all information of communication, the sonar signals have no information and are only information carriers, when the transmitting signals of the sonar reach a detection target, the signals are reflected, and all information of the target is contained in echo signals. The transmitted waveform of the radar signal has a direct relation with information which can be carried by the radar signal, and the selection of the waveform can directly determine and influence the performance parameters of the sonar system, including signal-to-noise ratio, distance resolution, Doppler resolution, time delay, Doppler ambiguity function and the like. The transmission process focuses on how to extract as much useful information of the target as possible from the sonar echo signal. In the waveguide underwater acoustic environment, the channel has a fast time-varying characteristic and a delay-doppler double-expansion characteristic, which causes difficulty in target signal extraction. Therefore, sonar signal emission waveforms and a signal detection method need to be designed reasonably, the complex environment of time-varying double-expansion underwater acoustic channels is overcome, the space-time diversity gain of the MIMO sonar system is improved, and multi-target detection is realized.
Disclosure of Invention
The invention provides a MIMO active detection signal design and detection system and method based on a fast time-varying and double-expansion underwater acoustic channel environment.
In the existing design of MIMO active detection signals, a non-periodic correlation structure is adopted in the basic principle, and the transmitted signals have certain sidelobe interference although having better non-periodic autocorrelation and cross-correlation characteristics. The invention provides a ZCZ sequence waveform design based on a periodic autocorrelation and cross-correlation structure, which has the advantages that interference can be completely eliminated only by utilizing the periodic cyclic shift correlation characteristic of a waveform sequence without excessive consideration and design of different orthogonal structures. Through beam forming and matched filtering processing, virtual data vectors of echo signals of different transmitting array elements are distinguished, the aperture of the virtual array elements is expanded, the target resolution is improved, the space-time diversity gain of the whole system is improved, and detection in all directions can be realized at one time. Compared with the existing traditional beam forming technology, the method saves the detection time.
In order to overcome the defects of fast time change, large time delay and serious Doppler spread of an underwater acoustic channel in a waveguide environment, multi-target detection is realized. The technical scheme adopted by the invention is as follows: the design of the related ZCZ sequence of periodic cyclic shift and the detection of MIMO underwater acoustic signals, the main device of the system comprises:
the ZCZ sequence generator generates a signal suitable for MIMO active detection by adopting a cyclic shift and cyclic prefix mode;
the transmitting power amplifier group is connected with the ZCZ sequence generator and used for transmitting signal power amplification;
the receiving power amplifier group is connected with the receiving hydrophone array and used for realizing the gain control of the received signals;
the transmitting transducer array is connected with the transmitting power amplifier group and used for converting the amplified detection signal into an acoustic signal from an electric signal and transmitting the acoustic signal to a detection water area;
the receiving hydrophone array is used for converting the received echo acoustic signals into electric signals;
and the coherent processing unit is used for processing the received MIMO signals to obtain an MIMO beam mode, estimating the MIMO beam mode to obtain a potential target azimuth, and then detecting whether a real target exists in the estimated potential target azimuth or not by utilizing a generalized likelihood ratio detector according to a result output by matched filtering.
Wherein u ismimo(theta) is the MIMO beam pattern after matching the output, theta is the azimuth where the target may be present, H1Indicating that the estimated orientation of the potential target is a true target, H0And the estimated potential target azimuth is not provided with a real target and is the detection threshold of the generalized likelihood ratio detector.
Compared with the prior art, the invention has the innovation points that:
based on the ZCZ emission signal design related to periodic cyclic shift, the waveguide time-varying underwater acoustic channel can be resisted, and complete interference elimination can be realized;
through MIMO array processing, spatial diversity gain can be obtained, compared with the traditional phased array beam forming, the virtual aperture and the spatial degree of freedom are expanded, a narrower main lobe and a lower side lobe can be obtained, and the resolution of target detection and the signal-to-noise ratio of echo detection are improved;
compared with the traditional phased array beam forming, the method can realize the detection of all the directions by one-time detection, avoids phased scanning and saves time.
Drawings
Fig. 1 is an overall schematic diagram of an underwater acoustic MIMO positioning transceiver system according to the present invention.
Fig. 2 is a schematic diagram of a transception array.
Fig. 3 is a beam pattern diagram comparison of the MIMO detection system and the phased array detection system in the present invention.
FIG. 4 is a schematic representation of the interference suppression of the ZCZ signal through a real waveguide underwater acoustic channel.
Detailed Description
The invention is further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
The invention relates to a MIMO underwater sound detection device designed based on ZCZ detection signals, which comprises:
the ZCZ sequence generator generates a signal suitable for MIMO active detection by adopting a cyclic shift and cyclic prefix mode;
the transmitting power amplifier group is connected with the ZCZ sequence generator and used for transmitting signal power amplification;
the receiving power amplifier group is connected with the receiving hydrophone array and used for realizing the gain control of the received signals;
the transmitting transducer array is connected with the transmitting power amplifier group and used for converting the amplified detection signal into an acoustic signal from an electric signal and transmitting the acoustic signal to a detection water area;
the receiving hydrophone array is used for converting the received echo acoustic signals into electric signals;
and the coherent processing unit is used for processing the received MIMO signals to obtain an MIMO beam mode, estimating the MIMO beam mode to obtain a potential target azimuth, and then detecting whether a real target exists in the estimated potential target azimuth or not by utilizing a generalized likelihood ratio detector according to a result output by matched filtering.
Fig. 1 is a schematic diagram of the operation of the signal generation and detection method of the present invention, which includes: the device comprises a ZCZ sequence generator, a transmitting power amplifier group, a receiving power amplifier group, a transmitting transducer array, a receiving hydrophone array and a coherent processing unit.
The transmitting array and the receiving array are arranged as shown in figure 2, the number of the transmitting array elements is Nt6, the number of receiving array elements is Nr7, the transmission array element spacing is 10cm, and the space between receiving array elements is 7 cm.
It should be noted that although fig. 1 uses N for more concise expressiont＝6，Nr7, but in the present invention, the transmit transducer array NtAnd a receiving transducer array NrIn this specific example, a reasonable beam pattern can be obtained by adjusting the number of transmit/receive array elements as long as the transmit/receive conditions allow.
The MIMO detection signal generating device of the invention is used for generating the detection signal, and comprises the following steps:
step 1: for a ZCZ sequence structure, FnRepresents a cluster of M ZCZ sequences, each ZCZ sequence having a length of L, which may be further represented as F (L, M, Z)CZ),ZCZFor a zero correlation interval length, when n is 0, the base matrix for generating ZCZ sequences may be represented as:
step 2: further development, L0The longer ZCZ sequence matrix can be represented by F (L, M, Z) with 2 as the starting sequence length and with 1 as the starting nCZ)＝(22nL0,2n+1,2n+1 ═ (8,4, 3). The structure can be represented by equation (4):
matrix in formula (4)
Presentation pair
Taking the inverse, F1Each row of (a) is a set of ZCZ sequences.
And step 3: generalizing ZCZ sequence clusters for Fn-1＝(22(n-1)L0,2n,2n-1+1), a larger cluster Fn＝(22nL0,2n+1,2n+1) can be expressed as:
in the formula (5), the reaction mixture is,
and
can be realized by the processing mode of the formula (6):
performing the following processing on the ZCZ signal generated by the formula (5):
step 1: and performing cyclic shift processing on the generated ZCZ sequence, wherein several paths of signals generated by shift are determined by the number of transmitting transducer elements.
Step 2: in order to ensure that the generated signal sequence has good cyclic shift autocorrelation characteristics, each path of generated signals needs to be added with cyclic prefix processing.
The ZCZ signals subjected to cyclic shift and cyclic prefix processing are subjected to transmission driving vector integration, the signals are amplified by a transmission power amplifier group, and finally the electric signals are converted into acoustic signals by the MIMO transducer and are transmitted out.
The whole signal transceiving and detecting process comprises the following steps:
step 1: the signal transmitter transmits a group of M ZCZ cyclic shift sequences processed by cyclic shift and cyclic prefix, and the signal is expressed as s [ n ] in a vector form]＝(s1[n],s2[n],…,sM[n])TThe covariance matrix of the transmitted signal can be expressed as:
in the formula (7), M is a positive integer larger than or equal to 1, n represents a sampling point at the nth moment of the orthogonal signal, n is larger than or equal to 1 and smaller than or equal to L, L represents the length of the code word sequence obtained by sampling, βijRepresenting the ith transmission signal si[n]And j-th transmission signal sj[n]Cross correlation coefficient between, sH[n]Is s [ n ]]Conjugate transpose operation, RsCan be decomposed into:
Rs＝UΛUH(8)
where U is unitary matrix, Λ is diagonal matrix, UHIs the conjugate transpose of U. When the transmitted signals are perfectly orthogonal, Rs＝IM。
Step 2: from NtA transmitting array element and NrA detection system consisting of receiving array elements and a transmitting array driving vector at(theta) and receiving array steering vector ar(θ) is represented by formula (9) and formula (10), respectively:
wherein a ist(theta) is the steering vector of the transmit transducer array, ar(theta) is the steering vector of the receive transducer array, theta is the potential target azimuth angle, NtIs the number of array elements of the transmitting transducer array, NrFor receiving the number of array elements of the hydrophone array, dtTo transmit transducer element spacing, drFor receiving hydrophone array element spacing and for transmittingThe center frequency of the transmitter emission signal, c is the sound velocity in water, (.)TRepresenting a matrix transposition operation.
And step 3: n via steering vector beamformingtA quadrature signal s [ n ]]The orthogonal signals are transmitted to a transmitting transducer array through a power amplifier group, the transmitting transducer array converts the amplified orthogonal signals into acoustic signals from electric signals, and the acoustic signals are transmitted to a water area to be detected; the signal is reflected by a target to be detected, an echo signal is received by the receiving hydrophone array, and the echo sound signal is converted into an electric signal by the receiving hydrophone power amplifier group. The received signal may be expressed as:
in formula (11), r [ n ]]For receiving the electrical signal received by the hydrophone, r n]＝[r1[n],r2[n],…,rNr[n]]TN is 1,2, … L is NrThe signal sequence received by the element receiving array, α (theta) is the signal propagation attenuation coefficient, w [ n ]]An additive noise vector that uncorrelated the set of signals received for the receiving hydrophone array and the set of transmitted signals. Compliance
A complex Gaussian distribution of wherein
Is the power of the noise or noise,
is rank of NrThe identity matrix of (2).
The received signal sequence with the length L is expressed in a matrix form, and the form of array data storage is adopted:
wherein R is [ R1 ]],r[2],…,r[L]],S＝[s[1],s[2],…s[L]]Then, then
N＝[w[1],w[2],…，w[L]]，
And 4, step 4: MIMO received signal model r [ n ] described according to equation (11)]To detect and locate the target by correlating with the transmitted ZCZ cyclic shift signal
Performing matched filtering to obtain a sufficient test statistical matrix, wherein the sufficient test statistical matrix obtained through the matched filtering is as follows:
the transmitted signal has perfect circular shift autocorrelation characteristic and fully checks the statistical matrix YmimoFurther simplification is as follows:
performing column vectorization processing on the sufficient statistics obtained by the formula (14) to obtain column vectorization expression of the sufficient statistics shown by the formula (15):
ymimo＝vec(Ymimo)＝α(θ0)d(θ0)+v (15)
in the formula (15), θ0Is the target potential bearing, α (θ)0) Signal propagation attenuation coefficients for the potential target azimuth angles,
is of length NtNr× 1 match the output response,
is the product of the kronecker product,
is subject to
Of complex Gaussian, wherein
Is the power of the noise after vectorization,
is an identity matrix with rank MN.
And 5: sufficient statistic y obtained from equation (15)mimoObtaining the system transmit-receive beam pattern and the maximum likelihood estimation containing the potential target position by the formula (16)
In the formula (16), umimo(theta) is the MIMO mode after matching output, theta is the azimuth where the target may exist, | | | | represents the absolute value operation, | | | | | | represents the vector modulo operation,
represents a pair ofr(theta) performing a conjugate transpose operation,
represents a pair oft(theta) performing a conjugate transpose operation,
representing the maximum likelihood estimate of the position of the potential target.
Using the beam pattern expressed by equation (16), for each-90 ° ≦ θ ≦ 90 °, its corresponding beam pattern value is calculated, resulting in the beam pattern diagram shown in solid line in fig. 3, and u is searched for according to equation (17) and the beam pattern diagrammimThe angle theta corresponding to the maximum value of o (theta) isEstimated position of potential target
Step 6: the MIMO beam pattern is estimated using equation (17) to obtain potential target orientations, which are then detected using the generalized likelihood ratio detector of equation (18)
Whether the target actually exists:
in the formula (18), the reaction mixture,
is the estimated beam pattern at the location of the potential target, H1Indicating that the estimated orientation of the potential target is a true target, H0And the estimated potential target azimuth is not provided with a real target and is the detection threshold of the generalized likelihood ratio detector. By a predetermined false alarm probability PfTo determine when
Consider a potential target position
The target really exists, otherwise, the potential target position is considered
The target does not actually exist.
As can be seen from FIG. 3, the estimated target position
The position of the target to be detected in the actual situation is consistent.
Compared with the traditional phased array beam forming beam mode, the beam mode of the detection method has a narrower main lobe and narrower side lobes, and the first side lobe is 13dB lower than that of the conventional phased array.
The beam mode has a narrower main lobe and can obtain higher target resolution, the lower side lobe can reduce the interference of background noise and false alarm, the signal-to-noise ratio of a received signal is improved, and the target detection probability is improved.
The signal detection based on the cyclic shift ZCZ sequence provided by the invention can resist a waveguide time-varying double-expansion underwater acoustic channel and can realize complete elimination of interference, and FIG. 4 shows that the ZCZ signal related to the cyclic shift passes through a real underwater acoustic channel. Compared with the traditional pseudo-random sequence, the ZCZ sequence related to the cyclic shift can completely eliminate the interference and has better detection performance.
Claims (4)
1. A design and detection method of a MIMO active detection signal design and detection system based on a double-extension underwater acoustic channel environment is provided, wherein the design and detection system comprises:
the ZCZ sequence generator generates a signal suitable for MIMO active detection by adopting a cyclic shift and cyclic prefix mode;
the transmitting power amplifier group is connected with the ZCZ sequence generator and used for transmitting signal power amplification;
the transmitting transducer array is connected with the transmitting power amplifier group and used for converting the amplified detection signal into an acoustic signal from an electric signal and transmitting the acoustic signal to a detection water area;
the receiving hydrophone array is used for converting the received echo acoustic signals into electric signals;
the receiving power amplifier group is connected with the receiving hydrophone array and used for realizing the gain control of the received signals;
the coherent processing unit is used for processing the received MIMO signals to obtain an MIMO beam mode, estimating the MIMO beam mode to obtain a potential target azimuth, and then detecting whether a real target exists in the estimated potential target azimuth or not by utilizing a generalized likelihood ratio detector according to a result output by matched filtering;
the method is characterized by comprising the following steps:
1) a ZCZ sequence generator generates a ZCZ sequence; performing cyclic shift processing on the generated ZCZ sequence, determining several paths of signals generated by shift according to the number of elements of a transmitting transducer, and adding cyclic prefix processing to each path of generated signals;
2) the ZCZ signals subjected to cyclic shift and cyclic prefix processing are subjected to transmission driving vector integration, the signals are amplified by a transmission power amplifier group, the amplified signals are sent to a transmission transducer array by the transmission power amplifier group, and the electric signals are converted into acoustic signals by the transmission transducer array and sent to a water area to be detected;
3) the signal is reflected by a target to be detected, the echo signal is received by the receiving hydrophone array, the echo acoustic signal is converted into an electric signal by the receiving power amplifier group, the coherent processing unit estimates the MIMO wave beam mode to obtain a potential target azimuth, and then the generalized likelihood ratio detector is utilized to detect whether the target really exists in the potential target azimuth.
2. The method for designing and detecting a MIMO active probing signal based on a dual-extension underwater acoustic channel environment according to claim 1, wherein the step 1) specifically comprises:
step 1.1: for a ZCZ sequence structure, FnRepresents a cluster of M ZCZ sequences, each ZCZ sequence having a length of L, FnFurther denoted as F (L, M, Z)CZ)，ZCZFor a zero correlation interval length, when n is 0, the base matrix for generating ZCZ sequences is represented as:
F(L,M,ZCZ)＝(2,2,1)(1)
step 1.2: with L0The ZCZ sequence matrix, with starting sequence length of 2 and starting n of 1, which is longer, is represented as:
F(L,M,ZCZ)＝(22nL0,2n+1,2n+1) — (8,4,3), the structure is represented by equation (2):
in the formula (2), matrix
Presentation pair
Taking the inverse, F1Each row of (a) is a set of ZCZ sequences;
step 1.3: generalizing ZCZ sequence clusters for Fn-1＝(22(n-1)L0,2n,2n-1+1),Fn＝(22nL0,2n+1,2n+1), a larger cluster Fn＝(22nL0,2n+1,2n+1) is expressed as:
step 1.4: in the formula (3), the reaction mixture is,
and
is realized by the processing mode of the formula (4)
3. The method for designing and detecting a MIMO active probing signal based on a dual-extension underwater acoustic channel environment according to claim 1, wherein the step 2) specifically comprises:
step 2.1: the signal transmitter transmits a group of M ZCZ cyclic shift sequences processed by cyclic shift and cyclic prefix, and the signal is expressed as s [ n ] in a vector form]＝(s1[n],s2[n],…,sM[n])TThe covariance matrix of the transmitted signal is expressed as:
in the formula (5), M is a positive integer larger than or equal to 1, n represents a sampling point at the nth moment of the orthogonal signal, n is larger than or equal to 1 and smaller than or equal to L, βijRepresenting the ith transmission signal si[n]And j-th transmission signal sj[n]Cross correlation coefficient between, sH[n]Is s [ n ]]Conjugate transpose operation, RsDecomposition by SVD is:
Rs＝UΛUH(6)
in the formula (6), U is unitary matrix, Λ is diagonal matrix, and U isHFor the conjugate transpose of U, R is when the transmitted signals are perfectly orthogonals＝IM；
Step 2.2: transmit array steering vector at(theta) and receiving array steering vector ar(theta) is represented by (7)
And (8):
wherein a ist(theta) is the steering vector of the transmit transducer array, ar(theta) is the steering vector of the receive transducer array, theta is the potential target azimuth angle, NtIs the number of array elements of the transmitting transducer array, NrFor receiving the number of array elements of the hydrophone array, dtTo transmit transducer element spacing, drFor receiving hydrophone array element spacing, f is transmitter transmit signal center frequency, c is underwater sound velocity, (.)TRepresenting a matrix transposition operation;
step 2.3: n via steering vector beamformingtA quadrature signal s [ n ]]The orthogonal signals are transmitted to a transmitting transducer array through a power amplifier group, the transmitting transducer array converts the amplified orthogonal signals into acoustic signals from electric signals, and the acoustic signals are transmitted to a water area to be detected; the signal is reflected by a target to be detected, an echo signal is received by the receiving hydrophone array, and the echo sound signal is converted into an electric signal by the receiving hydrophone power amplifier group.
4. The method for designing and detecting a MIMO active probing signal based on a dual-extension underwater acoustic channel environment according to claim 1, wherein the step 3) specifically comprises:
step 3.1: the signals received by the receiving hydrophones are expressed as:
in formula (9), r [ n ]]In order to receive the electrical signals received by the hydrophones,
n is 1,2, … L is NrThe signal sequence received by the element receiving array, α (theta) is the signal propagation attenuation coefficient, w [ n ]]Additive noise direction for receiving signals received by a hydrophone array and uncorrelated with the transmitted signalsAmount, compliance
A complex Gaussian distribution of wherein
Is the power of the noise or noise,
is rank of NrThe identity matrix of (1);
step 3.2: MIMO received signal model r [ n ] described by equation (9)]To detect and locate the target by cyclically shifting the signal with ZCZ
Performing matched filtering to obtain a sufficient test statistical matrix, wherein the sufficient test statistical matrix obtained through the matched filtering is as follows:
the transmitted signal has perfect circular shift autocorrelation characteristic and fully checks the statistical matrix YmimoFurther simplification is as follows:
performing column vectorization processing on the sufficient statistics obtained by the formula (11) to obtain column vectorization expression of the sufficient statistics shown by the formula (12):
ymimo＝vec(Ymimo)＝α(θ0)d(θ0)+v (12)
in the formula (12), θ0Is the target potential bearing, α (θ)0) Signal propagation attenuation coefficients for the potential target azimuth angles,
is of length NtNr× 1 match the output response,
is the product of the kronecker product,
is subject to
Of complex Gaussian, wherein
Is the power of the noise or noise,
is rank of NtNrThe identity matrix of (1);
step 3.3: the sufficient statistical vector y obtained according to step 3.2mimoObtaining the system transmit-receive beam pattern and the maximum likelihood estimation containing the potential target position by the formula (13)
In the formula (13), umimo(θ) is the MIMO beam pattern after matching output, | | | | represents absolute value computation, | | | | represents vector modulo computation,
represents a pair ofr(theta) performing a conjugate transpose operation,
represents a pair oft(theta) performing a conjugate transpose operation,
a maximum likelihood estimate representing the orientation of the potential target;
step 3.4: estimating the MIMO beam mode by using the formula (13) to obtain a potential target azimuth, and then detecting whether the target really exists in the potential target azimuth by using the generalized likelihood ratio detector of the formula (14):
in the formula (14), the compound represented by the formula (I),
for the estimated beam pattern at the location of the potential target, H1Indicating that the estimated orientation of the potential target is a true target, H0And the estimated potential target azimuth is not provided with a real target and is the detection threshold of the generalized likelihood ratio detector.
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